CN213419802U - Low-backlash cycloidal speed reducer for industrial heavy-duty robot - Google Patents
Low-backlash cycloidal speed reducer for industrial heavy-duty robot Download PDFInfo
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- CN213419802U CN213419802U CN202021929730.7U CN202021929730U CN213419802U CN 213419802 U CN213419802 U CN 213419802U CN 202021929730 U CN202021929730 U CN 202021929730U CN 213419802 U CN213419802 U CN 213419802U
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Abstract
The utility model discloses an industry heavy load robot is with low back clearance cycloid speed reducer, including the input gear axle that gradually bursts at the seams, three planetary gear that gradually bursts at the seams, three eccentric shaft, two cycloid wheels, preceding planet carrier, back planet carrier, forty kingpins and needle shell, the kingpin is evenly arranged along needle shell inner chamber wall circumference, it is preceding, back planet carrier rotates the adapter sleeve respectively and locates on the opening at needle shell both ends, it is preceding, back planet carrier passes through hexagon socket head cap cylindrical screw and taper pin interconnect fixed, input gear axle and eccentric shaft gradually burst at the seams are in the front respectively, on the back planet carrier, the cycloid wheel suit is on the external axial plane of input gear axle and eccentric shaft gradually bursts at the seams, the one end of eccentric shaft is passed back planet carrier and is connected with the planetary gear transmission that gradually bursts at the seams, involute. The utility model discloses rational in infrastructure, have simple structure, convenient to use, with low costs, bear advantages such as big, transmission precision height, crank axle intensity is big moreover, shock resistance is good.
Description
Technical Field
The utility model relates to a speed reducer technical field, concretely relates to industry heavy load robot is with low back clearance cycloidal reducer.
Background
The known RV (Rot-vector) transmission (belonging to a crank type closed differential gear train) for the robot is a novel transmission developed on the basis of cycloidal pin wheel transmission, and is mainly characterized by three large (large transmission ratio, large bearing capacity and high rigidity), two high (high motion precision and high transmission efficiency) and one small (small return difference), and has smaller volume and larger overload capacity than simple cycloidal pin wheel planetary transmission, and the rigidity of an output shaft is large, so that the RV-vector transmission for the robot is widely regarded at home and abroad. Because the high-precision cycloidal differential gear speed reducer for the robot is required to have large bearing and high transmission precision, how to design the RV speed reducer with small volume, high precision and low cost becomes a current difficult problem.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the problem that above-mentioned exists, provide a low back clearance cycloidal speed reducer for industry heavy load robot, its is rational in infrastructure, have simple structure, convenient to use, with low costs, bear advantage such as big, transmission precision height, crank axle intensity is big moreover, shock resistance is good.
The utility model discloses a realize above-mentioned purpose, take following technical scheme to realize:
a low back clearance cycloidal reducer for an industrial heavy-duty robot comprises an involute input gear shaft, three involute planetary gears, three eccentric shafts, two cycloidal gears, a front planet carrier, a rear planet carrier, forty rolling pins, inner hexagonal cylindrical screws, conical pins and a needle shell, wherein the rolling pins are uniformly distributed along the circumferential direction of the inner cavity wall of the needle shell, the central axis direction of the rolling pins is the same as the central axis direction of the needle shell, the front planet carrier and the rear planet carrier are respectively sleeved on openings at two ends of the needle shell and are respectively and rotationally connected with the needle shell, the front planet carrier and the rear planet carrier are mutually connected and fixed through the inner hexagonal cylindrical screws and the conical pins, the involute input gear shaft and the eccentric shafts are respectively arranged on the front planet carrier and the rear planet carrier in parallel, and the cycloidal gears are sleeved on the outer axial surface of the involute input gear shaft and the outer axial surface of the eccentric shafts and are positioned, the cycloid wheel is in transmission connection with the needle shell through the roller pin, one end of the eccentric shaft penetrates through the rear planet carrier to be in transmission connection with the involute planetary gear, and the involute planetary gear is in meshing transmission connection with the involute input gear shaft.
Preferably, the involute input gear shaft has 12 teeth, a module of 2.25, a pressure angle of 20 degrees and a tooth width of 23 mm.
Preferably, the involute planetary gears have 51 teeth, a module of 2.25, a pressure angle of 20 degrees and a tooth width of 14 mm.
Preferably, the eccentricity of the eccentric shaft is 2.4 mm.
Preferably, the number of teeth of the cycloid wheel is 39, the outer diameter of the needle gear sleeve is phi 12mm, the eccentricity is 2.4mm, the diameter of the central circle of the needle wheel is phi 260mm, and the tooth width is 22.8 mm.
Preferably, the outer diameter of the roller pin is phi 12mm, and the length of the roller pin is 44 mm.
Preferably, the number of teeth of the needle shell is 40, the diameter of a central circle is phi 260mm, and the diameter of the needle teeth is phi 12 mm.
Compared with the prior art, the beneficial effects of the utility model are as follows:
the utility model discloses rational in infrastructure, compact has reduced thereby speed reducer axial dimensions and has reached and subtract heavy purpose, and the speed reducer has reduced the return difference under the heavy load, has improved the work precision. The cycloidal gear adopts a single differential tooth structure, the meshing precision is superior to that of two differential teeth, the full-tooth rolling friction of the cycloidal gear, the roller pin and the needle shell is removed, and the rigidity is good. The single-difference tooth meshing is easier to realize high requirements on transmission chain errors and return difference, the rigidity is better, the tooth clearance is smaller, and the conditions of shaking and overlarge damping vibration in the use process of the speed reducer can be avoided. The planet carrier adopts column type taper pin connection structure, has simple structure, and processing is convenient, characteristics such as intensity height, and simultaneously, high accuracy taper pin connection structure can guarantee the identity of processing and assembly. The utility model discloses compare with ordinary RV speed reducer, eccentric shaft and planetary gear quantity are changed into threely by two, have improved the shock resistance of speed reducer, greatly increased the intensity of eccentric shaft, improved the life-span of speed reducer greatly. The utility model discloses rational in infrastructure, small, efficient, with low costs, simplified structural design, the parts machining of being convenient for makes, and the cost is reduced has characteristics such as efficient, light in weight, steady operation, shock-resistant, noise low, overload capacity is strong, longe-lived simultaneously.
Drawings
Fig. 1 is the utility model relates to a low back clearance cycloidal reducer for industrial heavy-duty robot's structural schematic diagram.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, a low back clearance cycloidal reducer for an industrial heavy-duty robot comprises an involute input gear shaft 1, three involute planetary gears 2, three eccentric shafts 3, two cycloidal gears 4, a front planet carrier 5, a rear planet carrier 6, forty rolling pins 7, inner hexagonal cylindrical screws 8, conical pins 9 and a needle housing 10, wherein the rolling pins 7 are uniformly arranged along the circumferential direction of the circular inner cavity wall of the needle housing 10, the central axis direction of the rolling pins 7 is the same as the central axis direction of the needle housing 10, the front planet carrier 5 and the rear planet carrier 6 are respectively sleeved on openings at two ends of the needle housing 10 and are respectively in rotary connection with the needle housing 10, the front planet carrier 5 and the rear planet carrier 6 are mutually connected and fixed through the inner hexagonal cylindrical screws 8 and the conical pins 9, the involute input gear shaft 1 and the eccentric shafts 3 are respectively arranged on the front planet carrier 5 and the rear planet carrier 6 in parallel, and the cycloidal gears 4 are sleeved on the outer axial surface of the involute input gear shaft 1 and the eccentric shaft 3 and are Between the star frames 6, the cycloid wheel 4 is in transmission connection with a needle shell 10 through a roller pin 7, one end of an eccentric shaft 3 penetrates through the rear planet frame 6 to be in transmission connection with the involute planetary gear 2, and the involute planetary gear 2 is in meshing transmission connection with the involute input gear shaft 1.
Optionally, the number of teeth of the involute input gear shaft 1 is 12, the modulus is 2.25, the pressure angle is 20 °, and the tooth width is 23 mm.
Optionally, the involute planetary gears 2 have 51 teeth, a module of 2.25, a pressure angle of 20 degrees and a tooth width of 14 mm.
Alternatively, the eccentricity of the eccentric shaft 3 is 2.4 mm.
Optionally, the number of teeth of the cycloid wheel 4 is 39, the outer diameter of the needle gear sleeve is phi 12mm, the eccentricity is 2.4mm, the diameter of the central circle of the needle wheel is phi 260mm, and the tooth width is 22.8 mm.
Optionally, the outer diameter of the roller pin 7 is phi 12mm, and the length is 44 mm.
Optionally, the number of teeth of the needle housing 10 is 40, the diameter of the central circle is phi 260mm, and the diameter of the needle teeth is phi 12 mm.
Compared with the prior art, the beneficial effects of the utility model are as follows:
the utility model discloses rational in infrastructure, compact has reduced thereby speed reducer axial dimensions and has reached and subtract heavy purpose, and the speed reducer has reduced the return difference under the heavy load, has improved the work precision. The cycloidal gear adopts a single differential tooth structure, the meshing precision is superior to that of two differential teeth, the full-tooth rolling friction of the cycloidal gear, the roller pin and the needle shell is removed, and the rigidity is good. The single-difference tooth meshing is easier to realize high requirements on transmission chain errors and return difference, the rigidity is better, the tooth clearance is smaller, and the conditions of shaking and overlarge damping vibration in the use process of the speed reducer can be avoided. The planet carrier adopts column type taper pin connection structure, has simple structure, and processing is convenient, characteristics such as intensity height, and simultaneously, high accuracy taper pin connection structure can guarantee the identity of processing and assembly. The utility model discloses compare with ordinary RV speed reducer, eccentric shaft and planetary gear quantity are changed into threely by two, have improved the shock resistance of speed reducer, greatly increased the intensity of eccentric shaft, improved the life-span of speed reducer greatly. The utility model discloses rational in infrastructure, small, efficient, with low costs, simplified structural design, the parts machining of being convenient for makes, and the cost is reduced has characteristics such as efficient, light in weight, steady operation, shock-resistant, noise low, overload capacity is strong, longe-lived simultaneously.
However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention should not be limited thereby, and all the simple equivalent changes and modifications described in the claims and the specification of the present invention are included in the scope of the present invention. In addition, the abstract and the title are provided for assisting the search of patent documents and are not intended to limit the scope of the present invention.
Claims (7)
1. A low back clearance cycloidal reducer for an industrial heavy-duty robot is characterized by comprising an involute input gear shaft, three involute planetary gears, three eccentric shafts, two cycloidal gears, a front planet carrier, a rear planet carrier, forty rolling needles, inner hexagonal cylindrical screws, conical pins and a needle shell, wherein the rolling needles are uniformly distributed along the circumferential direction of the circular inner cavity wall of the needle shell, the directions of the central axes of the rolling needles are the same as the direction of the central axis of the needle shell, the front planet carrier and the rear planet carrier are respectively sleeved on openings at two ends of the needle shell and are respectively and rotationally connected with the needle shell, the front planet carrier and the rear planet carrier are mutually connected and fixed through the inner hexagonal cylindrical screws and the conical pins, the involute input gear shaft and the eccentric shafts are respectively and parallelly penetrated on the front planet carrier and the rear planet carrier, the cycloidal gears are sleeved on the outer axial surface of the involute input gear shaft and the outer axial surface of the front eccentric, the cycloid wheel is in transmission connection with the needle shell through the roller pin, one end of the eccentric shaft penetrates through the rear planet carrier to be in transmission connection with the involute planetary gear, and the involute planetary gear is in meshing transmission connection with the involute input gear shaft.
2. The low backlash cycloidal reducer for industrial heavy-duty robots according to claim 1, wherein said involute input gear shaft has 12 teeth, a module of 2.25, a pressure angle of 20 ° and a tooth width of 23 mm.
3. The low backlash cycloidal reducer for an industrial heavy-duty robot according to claim 1, wherein the number of teeth of said involute planetary gear is 51, the modulus is 2.25, the pressure angle is 20 °, and the tooth width is 14 mm.
4. The low backlash cycloidal reducer for industrial heavy-duty robots according to claim 1, wherein the eccentricity of said eccentric shaft is 2.4 mm.
5. The low back clearance cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that the number of teeth of said cycloidal gear is 39, the outside diameter of the pin gear sleeve is Φ 12mm, the eccentricity is 2.4mm, the diameter of the pin gear center circle is Φ 260mm, and the tooth width is 22.8 mm.
6. The low-backlash cycloidal reducer for industrial heavy-duty robots according to claim 1, wherein the outer diameter of said needle rollers is Φ 12mm, and the length is 44 mm.
7. The low back clearance cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that the number of teeth of said needle housing is 40, the diameter of the central circle is Φ 260mm, and the diameter of the needle teeth is Φ 12 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021929730.7U CN213419802U (en) | 2020-09-07 | 2020-09-07 | Low-backlash cycloidal speed reducer for industrial heavy-duty robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021929730.7U CN213419802U (en) | 2020-09-07 | 2020-09-07 | Low-backlash cycloidal speed reducer for industrial heavy-duty robot |
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| CN213419802U true CN213419802U (en) | 2021-06-11 |
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| CN202021929730.7U Active CN213419802U (en) | 2020-09-07 | 2020-09-07 | Low-backlash cycloidal speed reducer for industrial heavy-duty robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026517A (en) * | 2022-06-27 | 2022-09-09 | 苏州市豪致达精密机械有限公司 | Planetary gear shaft, special material for planetary gear shaft and hot forging forming process of special material |
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2020
- 2020-09-07 CN CN202021929730.7U patent/CN213419802U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026517A (en) * | 2022-06-27 | 2022-09-09 | 苏州市豪致达精密机械有限公司 | Planetary gear shaft, special material for planetary gear shaft and hot forging forming process of special material |
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